Autonomously moving multifunctional robotic device with printer

ABSTRACT

An autonomous moving apparatus includes a handheld housing adapted to contain a printing head, an actuating mechanism adapted to move the housing on top of a printing surface, an audio sensor, and at least one non-audio sensor selected from a group comprising a distance sensor, a touch sensor, and an image sensor. Processing circuitry is adapted to execute a code for analyzing an audio signal captured by the audio sensor to detect a voice command; in response to the detection of the voice command, analyzing readings of at least one non-audio sensor to identify a triggering event; in response to the detection of the triggering event, instructing the actuating mechanism such that the housing moves along a printing pattern associated with the triggering event, and instructing the printing head to print media extracted from the readings, selected according to an analysis of the readings.

RELATED APPLICATIONS

This Application claims priority to U.S. Provisional Application62/916,283, entitled “Personal Robotic Device,” filed on Oct. 17, 2019,the contents of which are incorporated by reference as if fully setforth herein.

BACKGROUND

The present invention, in some embodiments, relates to an autonomousmoving apparatus, and more specifically, but not exclusively, to anautonomously moving personal robotic device that is capable of movingand printing on a surface.

Electronic personal assistants, also known as “smart speakers,” arewidely available. These electronic personal assistants listen to auser's vocal instructions, and carry out tasks either through a built-inspeaker (e.g., informing the user of the weather forecast), or through anetworked connection to a different device (e.g., turning out thelights). Electronic personal assistants are constrained by two mainlimitations. First, they are immobile, and thus can affect remotelysituated items only via a networked connection. Second, electronicpersonal assistants are typically able to handle only voice-based tasks,and cannot perform mechanical tasks.

A self-propelled printer and self-propelled imprinter are disclosed inU.S. Patent Publication 2016/0311239A1, the contents of which areincorporated by reference as if fully set forth herein. A self-propelledprinter is capable of receiving data for printing via a wireless networkconnection, autonomously positioning itself on a surface, and printingan image on the surface. The self-propelled printer and imprinterdescribed in the above-referenced publication are limited to the solefunctions of printing and imprinting.

SUMMARY

Existing products do not provide an electronic personal assistant thatis capable of assisting the user with tasks beyond those which can beperformed based on voice commands and speakers. Existing products alsodo not integrate voice and speaker-based commands with autonomousprinting. There is accordingly a need for a handheld, mobile,autonomous, personal assistant device, which is capable of carrying outmultiple tasks for the user, including printing.

The present disclosure, in certain embodiments, discloses amultifunctional personal robotic device that is both mobile andadaptive. The robotic device includes a sensor array, featuring adistance sensor, a touch sensor, an audio sensor, and an image sensor.The robotic device also has various modular ports capable of receivingtherein tools for performing various functions. The robotic device isable to use both its mobility and its array of sensors in order toimprove the performance of these functions. For example, a processingcircuitry receives information, such as a song to play, data forprinting, a direction for movement, or a request to capture a picture.The processing circuitry may receive this information via a voicecommand from a user, or another input method, such as a data connectionfrom an application on a computing device, or a hand gesture. Theprocessing circuitry may also be programmed to perform certain of thesefunctions autonomously, without receipt of a command. The processingcircuitry causes the robotic device to move in a particular way, inorder to carry out the task it has been requested to complete. Forexample, the robotic device moves closer to a user prior to playing asong, moves to a printing start location prior to printing and continueto move on a surface during printing, or moves to place a subject infocus prior to capturing an image with a camera.

In this manner, the robotic device functions as an autonomous personalassistant. The robotic device is small enough to fit on a table or desk,and includes functions that are available in other, stationary devices,such as a voice assistant or a smart speaker. The robotic device alsohas the ability to move in an autonomous manner, to print, and alsocarry out other tasks for the user, that are not voice based, rather arebased on mechanical design and additional hardware, that may beinstalled with tool cartridges and modular devices.

According to a first aspect, an autonomous moving apparatus isdisclosed. The autonomous moving apparatus includes a handheld housingadapted to contain a printing head, an actuating mechanism adapted tomove the housing on top of a printing surface, an audio sensor, and atleast one non-audio sensor selected from a group comprising a distancesensor, a touch sensor, and an image sensor. Processing circuitry isadapted to execute a code for analyzing an audio signal captured by theaudio sensor to detect a voice command; in response to the detection ofthe voice command, analyzing readings of at least one non-audio sensorto identify a triggering event; in response to the detection of thetriggering event, instructing the actuating mechanism such that thehousing moves along a printing pattern associated with the triggeringevent, and instructing the printing head to print media extracted fromthe readings, selected according to an analysis of the readings.

Advantageously, the autonomous moving apparatus is thus capable of notonly printing data that is passively sent to it via a networkconnection, but also of collecting readings from its sensors, and, inresponse to a voice command, printing media extracted from the sensorreadings. As a result, the apparatus is able to create the dataassociated with the images that it prints. Furthermore, theidentification of a triggering event enables the apparatus to identifymedia to print in an automated fashion, from among its various sensorreadings. The apparatus is compact, and it is able to move autonomouslyin order to position its sensors and in order to print on a desiredlocation on a printing surface.

In another implementation according to the first aspect, the processingcircuitry is adapted to identify a previously printed image on theprinting surface based on readings from the at least one non-audiosensor, and to autonomously position the apparatus so as to align theprinted media in relation to the previously printed image. For example,the printed media may be an addition to a previously existing image. Theprocessing circuitry may utilize readings from an image sensor toidentify the previously existing image and locate it on the printingsurface. The resulting image is thus printed precisely and withoutpotential for error resulting from manual placement of the apparatus onthe printing surface.

In another implementation according to the first aspect, the processingcircuitry is configured to identify a print start location on theprinting surface based on readings from the at least one non-audiosensor and to autonomously reposition the apparatus to the print startlocation prior to printing the media. For example, when the desiredimage is to be printed in the center of a page, the apparatus may moveitself to the center of the page, prior to the start of printing. Theresulting image is thus printed precisely and without potential forerror resulting from manual placement of the apparatus on the printingsurface.

In another implementation according to the first aspect, the triggeringevent is capturing of an image with the image sensor. For example, whena voice command is received to print an image, the processing circuitryidentifies the most recently captured image, and selects it forprinting. Advantageously, the apparatus is thus able to integrate thecapturing of images with its printing function, without requiring anexternal data source for supplying the image to be printed.

In another implementation according to the first aspect, the triggeringevent is capturing an image of a blank signature line on a document, andthe printed media comprises a signature. The apparatus is thus capableof recognizing a location on a page for a signature, and of printing thesignature at the correct location.

In another implementation according to the first aspect, the triggeringevent is detection by the at least one non-audio sensor of placement ofthe autonomous moving apparatus onto the printing surface. The placementof the apparatus onto a printing surface thus serves as a kind ofwake-up alert to the apparatus, to be prepared to print material thatwas recently sent to it or recently imaged. Optionally, the triggeringevent is detection of placement of the autonomous moving apparatus ontothe printing surface within a predetermined time following capturing ofan image with the image sensor. In such cases, the placement of theapparatus onto the printing surface soon after capturing an imagespecifically indicates to the apparatus to be prepared to print thecaptured image. In some such embodiments, the apparatus prints thecaptured image even without a command by the user.

In another implementation according to the first aspect, the processingcircuitry is further adapted to execute a code for: in response to avoice command instructing capturing an image of an object with the imagesensor, locating the object, determining whether the image sensor iscapable of imaging the object at a desired size and resolution from itsposition, and, upon a determination that the image sensor is not able toimage the object at the desired size and resolution, autonomouslyrepositioning the autonomous moving apparatus prior to capturing theimage. Advantageously, the apparatus autonomously moves in order toobtain a shot of the desired size and resolution, without requiring theuser to reposition the apparatus manually.

In another implementation according to the first aspect, the media is aplurality of markings on the printing surface, and each respective pairof markings from the plurality of markings is separated by the sameinterval. In some such implementations, the distance sensor is used tomeasure distances, and the printing head is used to mark off thedistances. Advantageously, the apparatus is thus able to accuratelymeasure and mark distances, providing an additional useful function.

In another implementation according to the first aspect, anon-transitory computer-readable medium comprises computer-executableinstructions for selecting an image to be printed from a memory of acomputing device; requesting from a user whether to print the image;and, upon receipt of an instruction from the user to print the image,printing the image with the autonomous moving apparatus. In suchimplementations, the apparatus may be connected via a wireless networkto an application installed on the computing device. However, ratherthan using the wireless network only for passive transmission ofinstructions to print an image, the application takes an active role inidentifying content to be printed, thereby saving the user time andmental effort.

Optionally, the computer-executable instructions are for selecting theimage based on at least one of temporal proximity to acquisition of theimage by the computing device and temporal proximity to an electroniccalendar entry associated with the image. In the first scenario, theapplication recognizes acquisition of the image, for example, througheither capture of the image by a built-in camera of the computing deviceor through receipt of the image by electronic communication. Theapplication identifies the image as a recently captured image andprompts the user whether he or she wishes to print it. In the secondscenario, the application is integrated with a calendar function on thecomputing device. The application recognizes an image associated with acalendar event and prompts the user whether he or she wishes to printit.

Optionally, the computer-executable instructions are for selecting theimage based on display of the image on a display of the computingdevice. For example, opening an image to full screen may signal to theapplication that the user may be interested in printing the image. Theapplication accordingly prompts the user.

Optionally, the computer-executable instructions are for selecting theimage based on an instruction from the user. For example, the user mayissue a voice command or a command from a keyboard to print a particularimage.

According to a second aspect, a method of printing with an autonomousmoving apparatus is disclosed. The autonomous moving apparatus includesa handheld housing adapted to contain a printing head, an actuatingmechanism adapted to move the housing on top of a printing surface, anaudio sensor, and at least one non-audio sensor selected from a groupcomprising a distance sensor, a touch sensor, and an image sensor. Themethod comprises: analyzing an audio signal captured by the audio sensorto detect a voice command; in response to the detection of the voicecommand, analyzing readings of at least one non-audio sensor to identifya triggering event; in response to the detection of the triggeringevent, instructing the actuating mechanism such that the housing movesalong a printing pattern associated with the triggering event; andinstructing the printing head to print media extracted from thereadings, selected according to an analysis of the readings.

Advantageously, in the performance of the method, the autonomous movingapparatus is not limited to printing media that is passively sent to itvia a network connection, but rather collects readings from its sensors,and, in response to a voice command, prints media extracted from thesensor readings. As a result, the apparatus creates the data associatedwith the images that it prints. Furthermore, the identification of atriggering event enables the apparatus to identify media to print in anautomated fashion, from among its various sensor readings. The apparatusis compact, and it is able to move autonomously in order to position itssensors and in order to print on a desired location on a printingsurface.

In another implementation according to the second aspect, the methodfurther comprises identifying a previously printed image on the printingsurface based on readings from the at least one non-audio sensor, andautonomously positioning the autonomous moving apparatus so as to alignthe printed media in relation to the previously printed image. Forexample, the printed media may be an addition to a previously existingimage. The method may include, for example, utilizing readings from animage sensor to identify the previously existing image and locate it onthe printing surface. The resulting image is thus printed precisely andwithout potential for error resulting from manual placement of theapparatus on the printing surface.

In another implementation according to the second aspect, the methodfurther comprises identifying a print start location on the printingsurface based on readings from the at least one non-audio sensor, andautonomously repositioning the autonomous moving apparatus to the printstart location prior to printing the media. For example, when thedesired image is to be printed in the center of a page, the apparatusmay move itself to the center of the page, prior to the start ofprinting. The resulting image is thus printed precisely and withoutpotential for error resulting from manual placement of the apparatus onthe printing surface.

In another implementation according to the second aspect, the triggeringevent is capturing of an image with the image sensor. For example, whena voice command is received to print an image, the apparatus identifiesthe most recently captured image, and selects it for printing.Advantageously, the apparatus is thus able to integrate the capturing ofimages with its printing function, without requiring an external datasource for supplying the image to be printed.

In another implementation according to the second aspect, the triggeringevent is capturing an image of a blank signature line on a document, andthe printed media comprises a signature. The apparatus is thus capableof recognizing a location on a page for a signature, and of printing thesignature at the correct location.

In another implementation according to the second aspect, the triggeringevent is detection by the at least one non-audio sensor of placement ofthe autonomous moving apparatus onto the printing surface. The placementof the apparatus onto a printing surface thus serves as a kind ofwake-up alert to the apparatus, to be prepared to print material thatwas recently sent to it or recently imaged. Optionally, the triggeringevent is detection of placement of the autonomous moving apparatus ontothe printing surface within a predetermined time following capturing ofan image with the image sensor. In such cases, the placement of theapparatus onto the printing surface soon after capturing an imagespecifically indicates to the apparatus to be prepared to print thecaptured image. In some such embodiments, the apparatus prints thecaptured image even without a command by the user.

In another implementation according to the second aspect, the methodfurther comprises: in response to a voice command instructing capturingan image of an object with the image sensor, locating the object,determining whether the image sensor is capable of imaging the object ata desired size and resolution from its position, and, upon adetermination that the image sensor is not able to image the object atthe desired size and resolution, autonomously repositioning theautonomous moving apparatus prior to capturing the image.Advantageously, the apparatus autonomously moves in order to obtain ashot of the desired size and resolution, without requiring the user toreposition the apparatus manually.

In another implementation according to the second aspect, the media is aplurality of markings on the printing surface, and each respective pairof markings is separated by the same interval. In some suchimplementations, the distance sensor is used to measure distances, andthe printing head is used to mark off the distances. Advantageously, theapparatus is thus able to accurately measure and mark distances,providing an additional useful function.

According to a third aspect, a method of printing with an autonomousmoving apparatus is disclosed. The autonomous moving apparatus comprisesa handheld housing adapted to contain a printing head and an actuatingmechanism adapted to move the housing on top of a printing surface. Themethod comprises: selecting an image to be printed from a memory of acomputing device; requesting from a user whether to print the images;and, upon receipt of an instruction from the user to print the image,printing the image with the autonomous moving apparatus. In suchimplementations, the apparatus may be connected via a wireless networkto an application installed on the computing device, and the applicationcontains computer-executable instructions to perform the selecting step.Rather than using the wireless network only for passive transmission ofinstructions to print an image, the application takes an active role inidentifying content to be printed, thereby saving the user time andmental effort.

In another implementation according to the third aspect, the methodfurther comprises selecting the image based on at least one of temporalproximity to an acquisition of the image by the computing device andtemporal proximity to an electronic calendar entry associated with theimage. In the first scenario, the application recognizes acquisition ofthe image, for example, through either capture of the image by abuilt-in camera of the computing device or through receipt of the imageby electronic communication. The application identifies the image as arecently captured image and prompts the user whether he or she wishes toprint it. In the second scenario, the application is integrated with acalendar function on the computing device. The application recognizes animage associated with a calendar event and prompts the user whether heor she wishes to print it.

In another implementation according to the third aspect, the methodfurther comprises selecting the image based on display of the image on adisplay of the computing device. For example, opening an image to fullscreen may signal to the application that the user may be interested inprinting the image. The application accordingly prompts the user.

In another implementation according to the third aspect, the methodfurther comprises selecting the image to be printed based on aninstruction from the user. For example, the user may issue a voicecommand or a command from a keyboard to print a particular image.

According to a fourth aspect, a mobile robotic device is disclosed. Themobile robotic device includes a handheld housing; and at least oneactuating mechanism adapted to move the housing on top of the surface.Within the handheld housing, the device includes at least one sensorselected from a group comprising an audio sensor, an image sensor, atouch sensor, and a distance sensor; a printing head; and a speaker.Processing circuitry is adapted to execute a code for: receiving inputsfrom the at least one sensor; based on the inputs, determining a patternfor movement of the housing at least one of prior to and duringoperation of at least one of the printing head, speaker, audio sensor,image sensor, and distance sensor, and instructing the at least oneactuating mechanism to move the housing in the determined pattern.Advantageously, the mobile robotic device is able to improve theperformance of the printing head, speaker, audio sensor, and imagesensor by moving the housing prior to or during operation of thosedevices. For example, the audio sensor and image sensor can track aperson walking around the room; the distance sensor can measure specificdistances, the printing head is capable of printing on a particularlocation on a surface; and the speaker is able to direct its sound to alocation where a user is listening. Furthermore, the robotic devicecombines multiple useful functions in one compact housing, making therobotic device useful and practical.

In another implementation according to the fourth aspect, the mobilerobotic device further includes at least one utility port configured toreceive therein a removable cartridge containing a tool. The processingcircuitry is adapted to execute a code for determining a pattern formovement of the housing at least one of prior to and during operation ofthe tool, and instructing the at least one actuating mechanism to movethe housing in the determined pattern. For example, the tool may beinstructed to operate in a straight line, or in a polygonal pattern.Optionally, the tool is selected from a group comprising a writingimplement, a laser, a cutting blade, an imprinting tool, and a sewingtool. Advantageously, including the tool within the same robotic devicefurther increases the functionality of the device and makes the devicemore useful to a user.

In another implementation according to the fourth aspect, the mobilerobotic device includes an extender for a wireless network. Upon adetermination that the extender receives a wireless signal atinsufficient strength, the processing circuitry is configured toinstruct the at least one actuating mechanism to move the housing in adirection toward a source of the wireless signal. Advantageously,including the wireless extender within the same robotic device furtherincreases the functionality of the device and makes the device moreuseful to a user.

In another implementation according to the fourth aspect, the processingcircuitry is configured to receive inputs from the at least one sensorduring operation of the speaker, and, based on the inputs from the atleast one sensor, determine a location to which to move the housing inorder to improve audio quality, and instruct the at least one actuatingmechanism to move the housing in the determined direction. Theimprovement in audio quality may be based on, for example, movement to alocation with greater acoustic quality, or movement closer to a userlistening to the speaker. Advantageously, the robotic device is thusable to improve the performance of the speaker during use.

Other systems, methods, features, and advantages of the presentdisclosure will be or become apparent to one with skill in the art uponexamination of the following drawings and detailed description. It isintended that all such additional systems, methods, features, andadvantages be included within this description, be within the scope ofthe present disclosure, and be protected by the accompanying claims.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Some embodiments of the invention are herein described, by way ofexample only, with reference to the accompanying drawings. With specificreference now to the drawings in detail, it is stressed that theparticulars shown are by way of example and for purposes of illustrativediscussion of embodiments of the invention. In this regard, thedescription taken with the drawings makes apparent to those skilled inthe art how embodiments of the invention may be practiced.

In the drawings:

FIGS. 1A-1D depict printing of an autonomous moving apparatus printingan image on a blank printing surface, according to embodiments of thepresent disclosure;

FIGS. 2A-2C depict the autonomous moving apparatus of FIGS. 1A-1Dprinting an image on a surface having a previously printed image,according to embodiments of the present disclosure;

FIGS. 3A-3B depict the autonomous moving apparatus of FIGS. 1A-1Dprinting a signature on a blank signature line, according to embodimentsof the present disclosure;

FIGS. 4A-4C depict the autonomous moving apparatus of FIGS. 1A-1Dcapturing an image with an image sensor and printing the image onto ablank printing surface, according to embodiments of the presentdisclosure;

FIGS. 5A-5B depict the autonomous moving apparatus of FIGS. 1A-1Dreceiving a command to image an object, and autonomously repositioningitself so as to enable capturing an image at a desired size andresolution, according to embodiments of the present disclosure;

FIGS. 6A-6B depict a software application suggesting an item to printfrom a computing device, a user instructing to print the item, and theautonomous moving apparatus of FIGS. 1A-1D printing the item, accordingto embodiments of the present disclosure;

FIGS. 7A-7B depict the autonomous moving apparatus of FIGS. 1A-1Dmeasuring and marking intervals on a printing surface; and

FIG. 8 is a schematic block diagram of the autonomous moving apparatusof FIG. 1A-1D, a computing device, and a network, according toembodiments of the present disclosure.

DETAILED DESCRIPTION

The present invention, in some embodiments, relates to an autonomousmoving apparatus, and more specifically, but not exclusively, to anautonomously moving personal robotic device that is capable of movingand printing on a surface.

Before explaining at least one embodiment of the invention in detail, itis to be understood that the invention is not necessarily limited in itsapplication to the details of construction and the arrangement of thecomponents and/or methods set forth in the following description and/orillustrated in the drawings and/or the Examples. The invention iscapable of other embodiments or of being practiced or carried out invarious ways.

Referring to FIGS. 1A-1D and FIG. 8 , autonomous moving apparatus 10 isa multifunctional personal robotic device. As used in the presentdisclosure, the terms “autonomous moving apparatus,” “apparatus,” and“mobile robotic device” are used interchangeably. Apparatus 10 includesvarious components suitable for printing an image 14 on a printingsurface 12. Image 14 is also referred to herein as printed media.

Apparatus 10 has a handheld housing in which the components recitedbelow are contained. In the embodiments of FIGS. 1A-1D, the housing issubstantially cube-shaped or cuboid-shaped. These shapes are merelyexemplary, and other forms are also possible. In certain exemplaryembodiments, the housing is shaped substantially like a teardrop.Optionally, the housing is shaped like one of the embodiments depictedin U.S. Pat. No. D736,312, the contents of which are incorporated byreference as if fully set forth herein.

Referring specifically to FIG. 8 , apparatus 10 includes at least oneprint head 110. Print head 110 includes one or more ink cartridgescontaining ink for printing, and micro-nozzles for depositing the inkonto a printing surface. The ink cartridges may be removable andreplaceable. There may be a plurality of ink cartridges for printing inboth black and color. For example, there may be black, magenta, cyan,and yellow colored ink cartridges. Print head 110 may additionally oralternatively be compatible with other types of printing and depositingtechnology, for example, laser printing, thermal printing, coating, orlaminating.

Processing circuitry 160 is connected to the print head 110. Processingcircuitry 160 may include a computer readable storage medium (or media),such as memory 170, having computer readable program instructionsthereon for causing a processor to carry out aspects of the presentinvention. The computer readable storage medium can be a tangible devicethat can retain and store instructions for use by an instructionexecution device. The computer readable storage medium may be, forexample, but is not limited to, an electronic storage device, a magneticstorage device, an optical storage device, an electromagnetic storagedevice, a semiconductor storage device, or any suitable combination ofthe foregoing.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network.

The computer readable program instructions may execute entirely on theprocessing circuitry 160, partly on the processing circuitry 160, as astand-alone software package, partly on the processing circuitry 160 andpartly on a remote computer or entirely on the remote computer orserver. In the latter scenario, the remote computer may be connected tothe processing circuitry 20 through any type of network, including alocal area network (LAN) or a wide area network (WAN), or the connectionmay be made to an external computer (for example, through the Internetusing an Internet Service Provider). In some embodiments, electroniccircuitry including, for example, programmable logic circuitry,field-programmable gate arrays (FPGA), or programmable logic arrays(PLA) may execute the computer readable program instructions byutilizing state information of the computer readable programinstructions to personalize the electronic circuitry, in order toperform aspects of the present disclosure.

Motor control 180 is configured to receive commands from the processor160 to actuate a drive mechanism. The drive mechanism is also referredto herein as an actuating mechanism adapted to move the housing. Thedrive mechanism is capable of propelling the apparatus 10 in a pluralityof directions on top of a surface, such as linearly, diagonally, or inan arc. The drive mechanism may include one or more wheels. The drivemechanism may also include, for example, a traction chain. The drivemechanism may be comprised of multiple mechanisms for moving indifferent directions, for example, two different movement systems formoving on an X-axis and a Y-axis. Alternatively, the drive mechanism iscomprised of a single omnidirectional wheel.

Apparatus 10 further includes audio sensor 120 and one or more non-audiosensors, such as image sensor 130, touch sensor 140, and distance sensor150. The non-audio sensors are used by the apparatus 10 to gather data,especially data suitable for the functions of image collection,locomotion, and printing.

The audio sensor 120 includes a microphone. The processing circuitry 160includes a voice-recognition software that is configured to recognize auser's speech and to implement orally-communicated commands. The imagesensor 130 may also be used to identify the user through facialrecognition. Upon identifying the user through voice recognition, facialrecognition, or a combination thereof, the processing circuitry 160 mayactivate a personal profile for that user, and automatically performcertain actions according to that user's pre-programmed preferences. Forexample, the processing circuitry may activate certain functions, ormove the apparatus 10 to a designated location on a desk. Optionally,the processing circuitry 160 includes an artificial intelligence (AI)chip capable of machine learning, which allows the apparatus 10 toimprove its understanding of the user's requests.

Image sensor 130 may include one or more cameras, CMOS sensors,charge-coupled devices (CCDs), or the like. The image sensor 130 maycapture any wavelength of light, such as light in the visual,ultra-violet, or infra-red spectra. The image sensor 130 is used toimage items, such as items that are to be copied or printed, or identifypeople, such as particular users. The image sensor 130 may also be usedto locate edges of a printing surface and to communicate information tothe processor regarding the positioning of the apparatus 10 on theprinting surface. Image sensor 130 may include a color sensor, such thatthe apparatus 10 may determine the boundaries of a printing surfacethrough detection of a change in color.

Touch sensor 140 may operate according to any operating principle of atouch sensor known to those of skill in the art, for example, acapacitive sensor, a resistive sensor, an infrared sensor, and a surfaceacoustic wave (SAW) sensor. The touch sensor 140 is used to identify asurface that is suitable for printing and to determine the dimensionsand boundaries of this surface.

The distance sensor 150 is used to measure motion of the apparatus 10and to accurately measure distance traveled by the apparatus 10.Distance sensor 150 may include one or more of an optical flow sensor,an encoder, or an accelerometer. Using the combined inputs of the imagesensor 130, touch sensor 140, and distance sensor 150, the processingcircuitry 160 is able to identify a location of the apparatus 10relative to a printing surface, and to generate directions to the motorcontrol 180 and the print head 110 to pilot the apparatus 10 and printan image onto the printing surface. When the processing circuitry 160includes an AI chip, the AI chip enables the apparatus 10 to improve andadvance its maneuvering, such as to navigate in the most efficientmanner, and avoid obstacles.

Reference to a printing surface in the functioning of the image sensor130, touch sensor 140, and distance sensor 150 is merely exemplary, andthose sensors may similarly be used to determine information about anywork surface upon which apparatus 10 operates, for example, in theperformance of a mechanical function, as well as any surface that theapparatus 10 is located on, for example, for the purpose of locomotion.

A power supply 220 supplies power to apparatus 10. Power supply 220 maybe any conventional source of power, for example, a rechargeablebattery.

In a preferred embodiment, apparatus 10 includes a transceiver 190.Transceiver 190 is capable of communicating wirelessly via network 300to a computer 30. The wireless communication may proceed via anycommunications protocol that is known or that may become known, forexample, Wi-Fi, Bluetooth, Bluetooth Low Energy, or radio frequency(RF). Computer 30 may be any form of computing device, including, forexample, a desktop computer, a laptop computer, a mobile phone, atablet, a smart watch, smart glasses, a smart speaker, or even anotherapparatus 10. Computer 30 includes processing circuitry 230, memory 240,inputs 250 (for example, mouse, keyboard, or voice activated inputs), adisplay 260, and a transceiver 270. The processing circuitry 230 andmemory 250, may have similar features to processing circuitry 160 andmemory 170 discussed above, and may have a software applicationinstalled thereon for communicating with apparatus 10. The user maycommunicate instructions to apparatus 10 via inputs 250, which aretransferred to processor 160 via transceiver 270 and transceiver 190.

In alternative embodiments, apparatus 10 communicates with computer 30via a wired connection, such as a USB cable. It should be recognized,however, that the apparatus 10 is capable of performing many of thefunctions described herein without any data connection to anothercomputing device.

In exemplary embodiments, the autonomous moving apparatus 10 is used forprinting or imprinting on a printing surface. The printing surface maybe any surface capable of printing or imprinting thereon, such as paper,poster board, cloth, tiles, wood, concrete, shelves, tabletops, orfloors.

One exemplary process for receiving an instruction to print and printingwith the apparatus 10 is as follows. A user communicates a voice commandto the apparatus 10 to print. The sound from the user is received by theaudio sensor 120 and is determined by processor 160 to be a voicecommand. In response to the voice command, the processor 160 analyzesreadings of the non-audio sensors (e.g. image sensor 130, touch sensor140, and distance sensor 150) to identify a triggering event. As used inthe present disclosure, the term “triggering event” refers to any eventassociated with either an image to be printed and/or a preparation ofthe apparatus 10 to print. The triggering event thus may be a capture ofan image with the image sensor, or a display of an image on display 260of computing device 30. The triggering event may also be, for example,placement of the apparatus 10 on a printing surface, e.g., a piece ofpaper. The processing circuitry 160 may determine, through input fromthe non-audio sensors, that the apparatus 10 is on a piece of paper, andprepare to print an image on that paper.

In response to the detection of the triggering event, the processingcircuitry 160 instructs the actuating mechanism 180 such that thehousing moves along a printing pattern associated with the triggeringevent. For example, the printing pattern may be sized to match thedimensions of the paper on which the apparatus 10 is placed. Thus, if auser instructs printing of a file sized for 8.5″×11″ paper, and theapparatus 10 is placed on 8″×10″ paper, the processing circuitry mayresize the file to fit properly on the smaller paper. The processingcircuitry 160 may also resize certain files whose contents suggest thatthey should be printed on one sheet of paper, for example, a shoppinglist. In addition or alternatively, the printing pattern may be sized tomatch the contours of an image captured by the image sensor 130. Forexample, an image of a receipt would be printed with the same dimensionsas the receipt itself, even if it were printed on a piece of paper thatis wider than the original receipt.

The processing circuitry 160 instructs the printing head 110 to printmedia extracted from the readings of the non-audio sensors, selectedaccording to an analysis of the readings. Advantageously, although theapparatus 10 is capable of printing specific files that are sent to it,in the manner of a conventional printer, it is also capable ofintelligently identifying and selecting both the material that is to beprinted and the location on the printing surface on which the materialis to be printed, based on the sensor readings. In this manner,apparatus 10 identifies media to be printed autonomously.

In alternative embodiments, the user's instruction includes a voicecommand to both capture an image and then print the image.

In addition, although in the embodiments described above the processingcircuitry 160 prints in response to a voice command, in otherembodiments the processing circuitry 160 prints in response to anelectronic command. For example, the user may communicate a printingcommand from a computer or mobile electronic device 30 that iselectronically connected to processing circuitry 160.

In still other embodiments, the apparatus 10 prints without any directcommand. For example, the processing circuitry 160 may be programmed toprint whenever the apparatus 10 is placed on a printing surface within apredetermined time period after capturing an image with the image sensor130. The apparatus 10 may also automatically print whenever it capturesa certain type of image, or whenever it is placed on a certain type ofprinting surface. In still other embodiments, the user may instruct theapparatus 10 to capture an image, and then the apparatus 10 autonomouslyprints the image. The capturing of the image may also proceedautonomously, or at the initiative of the processing circuitry 160. Forexample, the apparatus 10 may recognize a user holding up an image forcapturing, and automatically suggest to the user to scan it and printit. Through the artificial intelligence functions described above, theapparatus 10 may adapt to a user's preferences with regard to when theuser wishes to capture an image and when the user wishes to print.

Returning to FIGS. 1A-1D, during the printing process, the processingcircuitry 160 may cause the motion of the housing over the printingsurface 12 to proceed in an efficient path that avoids circuitouspassing over areas that are not to be printed, as well as avoidingpassage over recently printed areas to avoid smearing.

As shown in FIG. 1A, apparatus 10 is initially positioned at the upperleft corner of a printing surface 12. In the illustrated embodiments,printing surface 12 is a page. Upon receiving printing instructions, theapparatus 10 moves down the long dimension of the page, in the directionof arrow A, printing at the maximum possible width of the ink cartridgethat is installed in apparatus 10. FIG. 1B shows the apparatus afterprinting to the middle of the page 12, leaving a partially completedimage 14, and continuing to print in the direction of arrow B. FIG. 1Cshows the position of the apparatus 10 after printing the entire firstdrive of the page 110, and then, under the control of the processingcircuitry 160, moving across the page and printing in the oppositedirection, i.e., in the direction of arrow C. FIG. 1D shows theapparatus 10 at its resting point after completion of printing two“lines”, i.e., 2 drives that print the maximum possible width of theink-cartridge that is installed in the apparatus 10. While in theillustrated embodiment the apparatus 10 prints in a direction parallelto the long dimension of the page, the apparatus 10 may alternativelyprint in a direction parallel to the short dimension of the page.

FIGS. 2A-2B illustrate the capability of apparatus 10 to identify apreviously printed image on the printing surface, based on readings fromthe non-audio sensors, and to autonomously position the apparatus 10 soas to align the printed media in relation to the previously printedimage. In FIG. 2A, the apparatus 10 is instructed to print an image 14on printing surface 12 which already contains a printed image 16. In theillustrated embodiments, the printed image 16 is an open ellipse, andthe apparatus is instructed to fill in the ellipse. In FIG. 2B, theapparatus 10 determines a print start location suitable for filling inthe ellipse, and autonomously moves along arrow D to that location. Asshown in FIG. 2C, the resulting printed image 14 is aligned with thepreviously printed image 16. Advantageously, the repositioning of theapparatus 10 to the print start location is performed autonomously,without potential for error resulting from manual placement of theapparatus on the printing surface.

A special example of this process is illustrated in FIGS. 3A and 3B. InFIG. 3A, apparatus 10 is placed on a surface 12 that includes apreexisting image 16 of text and signature lines. The user instructsapparatus 10 to print a signature and date 14 on the signature lines. Asdiscussed above, the user may instruct the printing prior to placing theapparatus 10 on surface 12, or after placing the apparatus 10 on surface12. Alternatively, the apparatus 10 may autonomously begin printingafter being placed on surface 12 and recognizing the blank signaturelines. Regardless, the processing circuitry 160 recognizes the capturingof the blank signature lines as a triggering event, and determines aprinting pattern associated with the signature lines. In FIG. 3B, theapparatus 10 prints the signature and date 14 on the signature lines.

FIGS. 4A-4C illustrate a process of capturing an image 20 with the imagesensor 130 and printing the image 20. As illustrated in FIG. 4A, theuser may instruct the apparatus 10 to capture an image of page 18. Theprocessing circuitry may recognize that page 18 displays pattern 20.Alternatively, the user may specifically instruct the apparatus 10 tofocus on pattern 20. The capture of the image of page 18 and/or pattern20 thus serves as a triggering event, in the manner described above. InFIG. 4B, the user places the apparatus 10 on a blank printing surface12. In FIG. 4C, the apparatus 10 prints pattern 20 onto printing surface12. As discussed above, apparatus 10 may print autonomously, forexample, when placed onto printing surface 12 within a predeterminedtime period following capture of the image of pattern 20. Alternatively,the user may specifically instruct the apparatus 10 to print thecaptured image after placing apparatus 10 on surface 12.

FIGS. 5A-5B illustrate a scenario in which apparatus 10 repositionsitself autonomously in order to improve the quality of an image taken byimage sensor 130. In FIG. 5A, the apparatus 10 receives a command, forexample a voice command, to capture an image of pattern 20, which islocated on surface 18. The apparatus 10 is located sufficiently close tosurface 18 that the field of view of the image sensor 130, which isrepresented by dashed lines 24 and 26, is not wide enough to capture theentire pattern 20 at a desired size and resolution. Processing circuitry160 determines that image sensor 130 is not able to image the pattern 20at the desired size and resolution from its current position, andrepositions the apparatus 10 to a different position on table 22. InFIG. 5B, the processing circuitry determines that, from the newposition, image sensor 130 is able to capture the entire pattern 20 atthe desired size and resolution, and captures the image.

In the embodiment of FIG. 5A, the pattern 20 is already partially in thefield of view of the image sensor when the voice command to capture theimage is received. In an alternative implementation, the pattern 20 isnot in the field of view at all, and the apparatus 10 locates thepattern 20 to be imaged. For example, the voice command may instructapparatus 10 to capture an image of a person that is talking. Theprocessing circuitry, relying on the non-audio sensors and optionally onthe audio sensor 120 as well, locates the talking person within theroom, turns toward the position in which it can capture an image of thatperson, and captures the image. Apparatus 10 may also move whilecapturing the image. For example, apparatus 10 may capture a video of atalking person and follow the movement of the person as he or she istalking. Optionally, apparatus 10 is equipped with facial recognitionsoftware that can also identify the person whose image is to becaptured.

FIGS. 6A-6B illustrate a scenario in which apparatus 10 selects materialto be printed from a computer 30 having a networked connection withapparatus 10. As discussed above in connection with FIG. 8 , computer 30includes a processing circuitry 230, a memory 240, inputs 250 (such as akeyboard and a microphone), and a display 260. The computer 30 runs aprogram that is integrate with apparatus 10. The program has access tothe computer display 260 and memory 240, in order to select images toprint. The computer 30 may also run one or more other programs in whichimages are stored or referenced. For example, in the embodimentillustrated in FIG. 6A, the computer is running a calendar program. Theuser has entered an event 32, such as a concert, for which an image of aticket is associated. The processing circuitry 230 recognizes that thecalendar event will occur soon, and prompts the user whether he or shewishes to print the ticket. The user voices a command to print theticket, and apparatus 10 prints an image 14 of the ticket on printingsurface 12.

In the embodiment of FIG. 6A, the image is selected for printing basedon temporal proximity to the electronic calendar entry 32 associatedwith the image. In an alternative scenario, the image is selected forprinting based on temporal proximity to an acquisition of the image bythe computer 30. For example, the user may open an email with an imageattachment, and the program may immediately prompt the user regardingwhether he or she wishes for the attached image to be printed.Alternatively, the computer program may identify the image to be printedbased on a display of the image on the display 260. For example, when auser opens the image to a full-screen display on the computer screen,the program may automatically inquire from the user whether he or shewishes to print the image. In still other scenarios, the user may placethe apparatus 10 on a printing surface when an image is being displayedon the display 260, and the apparatus 10 prompts the user regardingwhether to print the image. As discussed above, the computer program mayuse artificial intelligence to learn a user's printing preferences.

In still other scenarios, the user may select an image to be printed andsend the image to the apparatus 10 for printing, without prior promptingby apparatus 10. For example, the user may issue a voice command or acommand from a keyboard to print a particular image. In some suchscenarios, the user makes a request for a printable file, and thecomputer program finds or fetches the file and prints it. For example,the user may recite “print my last receipt,” or “print my last emailwith the attachment,” or “print a drawing of Spiderman.” Alternatively,the computing device 30 displays a message that has the words “pleaseprint,” and the computer program recognizes the file to be printed, andinstructs the apparatus 10 to print it.

In embodiments in which functioning of the apparatus 10 and computingdevice 30 is integrated, processing on the apparatus 10 may be limited.In such embodiments, most of the processing is performed on thecomputing device 30, for example, an appropriate driver that operateswith respect to apparatus 10. Advantageously, the processing circuitry160 and memory 170 of apparatus 10 may therefore be smaller, allowingapparatus 10 to occupy a smaller volume and to be produced at lowerexpense.

FIGS. 7A-7B illustrate apparatus 10 being used to measure and markintervals. As shown in FIG. 7A, the user sets apparatus 10 on printingsurface 40 and instructs it to measure and mark intervals. For example,the user may instruct to mark intervals 5 cm apart across the length ofthe surface 40. In such scenarios, the user may be a carpenter, and theprinting surface may be a piece of wood. As shown in FIG. 7B, usingdistance sensor 150, the apparatus measures the distances, and using theprinting head 110, the apparatus 10 prints markings 42 at equalintervals along printing surface 40. Markings 42 may take any othershape or configuration. For example, the user may instruct the apparatus10 to draw a 2 cm×2 cm square, or a 1 cm solid line, or a dotted line.The apparatus 10 may also be used to measure accurate distances withoutleaving a marking. For example, a carpenter may place the apparatus 10on a piece of wood and instruct it to drive 5 cm, and the apparatus 10does so.

Referring again to FIG. 8 , apparatus 10 may optionally includeadditional functionalities. For example, apparatus 10 may include one ormore utility ports 200. Utility ports 200 may have operative connectionsto tool cartridges, such as cartridges for an imprinting tool, a sewingtool, a cutting blade, a laser, or a crayon or other writing implement.The cartridges may be modular, such that the same utility port 200 maybe used for multiple types of cartridges. The apparatus 10 may recognizethe type of cartridge that is installed and suggest performance of afunction associated with that cartridge. For example, when a user putsin a needle and thread cartridge, the apparatus 10 may suggest sewing acertain pattern, based on a previously sewed pattern. Conversely, theapparatus 10 may prompt the user to change the tool cartridge based onthe type of surface on which the apparatus 10 is placed. For example,when the apparatus 10 is placed on cardboard, it may prompt the user toplace a cutting blade in the utility port so that the blade can cut thecardboard. As another example, the apparatus 10 may associate placementon glass with use of a laser to cut the glass, or placement on wood withuse of a laser to engrave or mark the wood.

Apparatus 10 may also include a Wi-Fi mesh system 210 operativelyconnected to the transceiver 190. Mesh system 210 is used as a meshWi-Fi network extender for a location such as a home. Processingcircuitry 160, transceiver 190, and Wi-Fi mesh system 210 may be used asa satellite module to create a Wi-Fi network with dynamic routing. Insuch embodiments, the apparatus 10 may be physically wired to a network,such as a DSL network, or it may receive Wi-Fi signal wirelessly. Theapparatus 10 may detect when the main Wi-Fi signal coming from a routeris weak, and move or turn toward a router to enhance the signal that itreceives.

Apparatus 10 may also include a speaker 280. The speaker 280 is used toissue audible requests to the user and audible confirmations to theuser. The speaker 280 may also be used to play music. The processingcircuitry 160 may receive information regarding which music files toplay, for example, from a music streaming service. Processing circuitry160 is also able to identify the user based on voice, image, and/or facerecognition, and to access different music streaming accounts orplaylists that are associated with the identified user. The processingcircuitry 160 is also able to autonomously rotate or relocate theapparatus 10 in order to produce the highest sound quality. For example,the apparatus 10 may identify the location of a user in a room using theaudio sensor 120 and/or the image sensor 130, and may rotate so that thespeaker 280 faces the users. In another example, the apparatus 10senses, with the audio sensor 120, that the sound is not being heardclearly, Apparatus 10 may determine that the cause of the poor soundquality is that the apparatus 10 is located in a corner of the room.Apparatus 10 then autonomously relocates out of the corner to adifferent location, from which the sound is heard more clearly.

In still another functionality of apparatus 10, the apparatus 10 may beused as a camera and microphone for videoconferencing. The videoconference application may run on another device, for example, computingdevice 30. Image sensor 140 and audio sensor 120 take the place of amicrophone and camera of computing device 30. The captured images andaudio are stored on memory 170 of apparatus 10 and/or transmitted tocomputing device 30, from which they are further transmitted using thevideo conference application. Because apparatus 10 is mobile, itadvantageously may be used to follow one or more users moving around aroom during the videoconference.

It is expected that during the life of a patent maturing from thisapplication many sensors, wireless communication protocols, and utilitytools will be developed that are suitable for the functions describedherein, and the scope of the terms sensor, wireless communicationprotocol, and utility tools intended to include all such newtechnologies a priori.

As used herein the term “about” refers to ±10%.

The terms “comprises”, “comprising”, “includes”, “including”, “having”and their conjugates mean “including but not limited to”. This termencompasses the terms “consisting of” and “consisting essentially of”.

The phrase “consisting essentially of” means that the composition ormethod may include additional ingredients and/or steps, but only if theadditional ingredients and/or steps do not materially alter the basicand novel characteristics of the claimed composition or method.

As used herein, the singular form “a”, “an” and “the” include pluralreferences unless the context clearly dictates otherwise. For example,the term “a compound” or “at least one compound” may include a pluralityof compounds, including mixtures thereof.

The word “exemplary” is used herein to mean “serving as an example,instance or illustration”. Any embodiment described as “exemplary” isnot necessarily to be construed as preferred or advantageous over otherembodiments and/or to exclude the incorporation of features from otherembodiments.

The word “optionally” is used herein to mean “is provided in someembodiments and not provided in other embodiments”. Any particularembodiment of the invention may include a plurality of “optional”features unless such features conflict.

Throughout this application, various embodiments of this invention maybe presented in a range format. It should be understood that thedescription in range format is merely for convenience and brevity andshould not be construed as an inflexible limitation on the scope of theinvention. Accordingly, the description of a range should be consideredto have specifically disclosed all the possible subranges as well asindividual numerical values within that range. For example, descriptionof a range such as from 1 to 6 should be considered to have specificallydisclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numberswithin that range, for example, 1, 2, 3, 4, 5, and 6. This appliesregardless of the breadth of the range.

Whenever a numerical range is indicated herein, it is meant to includeany cited numeral (fractional or integral) within the indicated range.The phrases “ranging/ranges between” a first indicate number and asecond indicate number and “ranging/ranges from” a first indicate number“to” a second indicate number are used herein interchangeably and aremeant to include the first and second indicated numbers and all thefractional and integral numerals therebetween.

It is appreciated that certain features of the invention, which are, forclarity, described in the context of separate embodiments, may also beprovided in combination in a single embodiment. Conversely, variousfeatures of the invention, which are, for brevity, described in thecontext of a single embodiment, may also be provided separately or inany suitable subcombination or as suitable in any other describedembodiment of the invention. Certain features described in the contextof various embodiments are not to be considered essential features ofthose embodiments, unless the embodiment is inoperative without thoseelements.

It is the intent of the applicant(s) that all publications, patents andpatent applications referred to in this specification are to beincorporated in their entirety by reference into the specification, asif each individual publication, patent or patent application wasspecifically and individually noted when referenced that it is to beincorporated herein by reference. In addition, citation oridentification of any reference in this application shall not beconstrued as an admission that such reference is available as prior artto the present invention. To the extent that section headings are used,they should not be construed as necessarily limiting. In addition, anypriority document(s) of this application is/are hereby incorporatedherein by reference in its/their entirety.

1. An autonomous moving apparatus, comprising: a handheld housingadapted to contain: a printing head; an actuating mechanism adapted tomove the housing on top of a printing surface; an audio sensor; at leastone non-audio sensor selected from a group comprising a distance sensor,a touch sensor, and an image sensor; and a processing circuitry adaptedto execute a code for: analyzing an audio signal captured by the audiosensor to detect a voice command; in response to the detection of thevoice command, analyzing readings of at least one non-audio sensor toidentify a triggering event; and in response to the detection of thetriggering event, instructing the actuating mechanism such that thehousing moves along a printing pattern associated with the triggeringevent, and instructing the printing head to print media extracted fromthe readings, selected according to an analysis of the readings.
 2. Theautonomous moving apparatus of claim 1, wherein the processing circuitryis adapted to identify a previously printed image on the printingsurface based on readings from the at least one non-audio sensor, and toautonomously position the autonomous moving apparatus so as to align theprinted media in relation to the previously printed image.
 3. Theautonomous moving apparatus of claim 1, wherein the processing circuitryis configured to identify a print start location on the printing surfacebased on readings from the at least one non-audio sensor, and toautonomously reposition the autonomous moving apparatus to the printstart location prior to printing the media.
 4. The autonomous movingapparatus of claim 1, wherein the triggering event is capturing of atleast one of: an image with the image sensor, and an image of a blanksignature line on a document, and the printed media comprises asignature. 5-7. (canceled)
 8. The autonomous moving apparatus of claim1, wherein the processing circuitry is further adapted to execute a codefor: in response to a voice command instructing capturing an image of anobject with the image sensor, locating the object, determining whetherthe image sensor is capable of imaging the object at a desired size andresolution from its position, and, upon a determination that the imagesensor is not able to image the object at the desired size andresolution, autonomously repositioning the autonomous moving apparatusprior to capturing the image.
 9. The autonomous moving apparatus ofclaim 1, wherein the media is a plurality of markings on the printingsurface, wherein each respective pair of markings from the plurality ofmarkings is separated by the same interval.
 10. A non-transitorycomputer-readable medium comprising computer-executable instructionsfor: selecting an image to be printed from a memory of a computingdevice; requesting from a user whether to print the image; and uponreceipt of an instruction from the user to print the image, printing theimage with the autonomous moving apparatus of claim
 1. 11. Thenon-transitory computer-readable medium of claim 10, further comprisingcomputer-executable instructions for selecting the image based on atleast one of temporal proximity to an acquisition of the image by thecomputing device and temporal proximity to an electronic calendar entryassociated with the image.
 12. The non-transitory computer-readablemedium of claim 10, further comprising computer-executable instructionsfor selecting at least one of: the image based on display of the imageon a display of the computing device, and the image to be printed basedon an instruction from the user.
 13. (canceled)
 14. A method of printingwith an autonomous moving apparatus, the autonomous moving apparatuscomprising a handheld housing adapted to contain a printing head, anactuating mechanism adapted to move the housing on top of a printingsurface, an audio sensor, and at least one non-audio sensor selectedfrom a group comprising a distance sensor, a touch sensor, and an imagesensor, the method comprising: analyzing an audio signal captured by theaudio sensor to detect a voice command; in response to the detection ofthe voice command, analyzing readings of at least one non-audio sensorto identify a triggering event, in response to the detection of thetriggering event, instructing the actuating mechanism such that thehousing moves along a printing pattern associated with the triggeringevent; and instructing the printing head to print media extracted fromthe readings, selected according to an analysis of the readings.
 15. Themethod of claim 14, further comprising identifying at least one of:/ apreviously printed image on the printing surface based on readings fromthe at least one non-audio sensor, and autonomously positioning theautonomous moving apparatus so as to align the printed media in relationto the previously printed image; a print start location on the printingsurface based on readings from the at least one non-audio sensor, andautonomously repositioning the autonomous moving apparatus to the printstart location prior to printing the media.
 16. (canceled)
 17. Themethod of claim 14, wherein the triggering event is capturing at leastone of: an image with the image sensor, and an image of a blanksignature line on a document, and the printed media comprises asignature.
 18. (canceled)
 19. The method of claim 14, wherein thetriggering event is at least one of: a detection by the at least onenon-audio sensor of placement of the autonomous moving apparatus ontothe printing surface, a detection of placement of the autonomous movingapparatus onto the printing surface within a predetermined timefollowing capturing of an image with the image sensor, and a detectionby the at least one non-audio sensor of placement of the autonomousmoving apparatus onto the printing surface.
 20. (canceled)
 21. Themethod of claim 14, further comprising: in response to a voice commandinstructing capturing an image of an object with the image sensor,locating the object, determining whether the image sensor is capable ofimaging the object at a desired size and resolution from its position,and, upon a determination that the image sensor is not able to image theobject at the desired size and resolution, autonomously repositioningthe autonomous moving apparatus prior to capturing the image.
 22. Themethod of claim 14, wherein the media is a plurality of markings on theprinting surface, wherein each respective pair of markings from theplurality of markings is separated by the same interval.
 23. A method ofprinting with an autonomous moving apparatus, the autonomous movingapparatus comprising a handheld housing adapted to contain a printinghead and an actuating mechanism adapted to move the housing on top of aprinting surface, the method comprising: selecting an image to beprinted from a memory of a computing device; requesting from a userwhether to print the image; and upon receipt of an instruction from theuser to print the image, printing the image with the autonomous movingapparatus.
 24. The method of claim 22, further comprising selecting theimage based on at least one of temporal proximity to an acquisition ofthe image by the computing device and temporal proximity to anelectronic calendar entry associated with the image.
 25. The method ofclaim 22, further comprising selecting the image based on display of theimage on a display of the computing device.
 26. The method of claim 22,further comprising selecting the image to be printed based on aninstruction from the user. 27-31. (canceled)